CN101201631B - Systems and methods for augmenting an inertial navigation system - Google Patents
Systems and methods for augmenting an inertial navigation system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1652—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with ranging devices, e.g. LIDAR or RADAR
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
- E02F3/842—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine using electromagnetic, optical or photoelectric beams, e.g. laser beams
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
- E02F3/847—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using electromagnetic, optical or acoustic beams to determine the blade position, e.g. laser beams
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- Radar, Positioning & Navigation (AREA)
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- Structural Engineering (AREA)
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- Civil Engineering (AREA)
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Abstract
Systems and methods for augmenting an inertial navigation system (INS) include outputting from the INS position information associated with the implement and adjusting the implement based upon a comparison of the position information of the implement and a desired position of the implement. The INS is periodically re-initialized using error estimates generated by a kalman filter as a function of position information from one or more positioning (or measuring) devices, such as a fan laser, an automatic total station (ATS), a GNSS receiver, or a ground based radio positioning system, to correcta drift of the position information that may be caused by inherent characteristics of the INS.
Description
Technical field
Relate generally to of the present invention is used to inertial navigation system that the system and method for positional information is provided.
Background technology
Can change the landforms in building site according to scheduled plan such as earth-moving plants such as dozer, wheel loader and other earth-moving equipment.Scheduled plan can be specified some size and the specification in building site, and earth-moving plant then can correspondingly change these landforms.Scheduled plan may need to finish these work by earth-moving plant, for example cover to go up certain material, is cut into meticulous predetermined profile from the building site excavated material or with the soil in building site for the building site.These machineries can have the apparatus (for example, dozer) of carrying out these operations.
Earth-moving plant can comprise the equipment that helps the operator to carry out the building site task.Wherein a kind of such equipment is about being configured to receive off and on machinery with respect to the positioning equipment at the horizontal level (or orientation) on ground and upright position (or elevation angle).Use this information that receives, mechanical available self-actuated controller (for example, automatic Apparatus control system) is adjusted to desired height with apparatus.For example, this automatically performs controller and can move up or down spader on the dozer according to the difference between the object height (the required upright position of for example, depending on scheduled plan) of the detected elevation angle (for example, upright position) and spader that should machinery.The elevation angle on ground should be certain level if scheduled plan is for example specified, and then spader can move down so that ground drops to this level or moves up ground to be covered high to this level with material.
At present, can use some different technologies to detect height position information such as (or upright positions) such as spader.Wherein a kind of such technology relates to reception from such as GPS (GPS), global orbiting navigation satellite system (GLONASS) or in a word from the positional information of global position systems such as any Global Navigation Satellite System (GNSS).Global position system comprises that satellite group also need be positioned at the satellite positioning receiver on the earth-moving plant.Satellite positioning receiver can 0.1 to 100Hz, receive positional information from global position system with the speed of 10Hz or 20Hz in the practical operation.
Another positioning equipment is robotic total station or automatic total powerstation (ATS).ATS comprises the position of long-range definite apparatus and sends signal to this mechanically set receiver with the equipment of adjusting instrument position.
This equipment of ATS uses servomotor to come follow-up machinery and use angle scrambler to measure with respect to the surface level of ground (x and y coordinate) and with respect to the angle in the elevation axis (z axle) on ground.This equipment also comprises to the electronic distance measuring instrument of mechanically set prism or reflecting surface transmission visible laser bundle or infrared light.Light is reflected back toward this equipment then, and then by this equipment computer tool and the distance between it.The distance of using the position of known ATS, the angle that records and recording can be determined mechanical positional information.Generally speaking, ATC is being locked to this target and is constantly upgrading the positional information of the machinery be used to regulate this apparatus as required when move in the building site.This equipment can upgrade up to the speed of 6Hz at present.
Another positioning equipment is rotary laser, and it forms the optical reference plane with the speed slewed laser beam of for example 600RPM with the surface in the building site.This optical reference plane may be oriented vertically, level or be known gradient in one or two directions with respect to the surface, building site.Usually the photoelectric detector equipment that is located on the earth-moving plant receives the light of being launched by laser instrument with for example every 100ms speed once, generates positioning signal in response to this.Processor is then according to the height of this positioning signal control device.
Another positioning equipment is fan-shaped laser instrument, and it rotates one or more fan-shaped laser beams with the speed of for example 3000RPM so that receiver is determined vertical angle or the elevation angle, surface, building site difference.Usually the photoelectric detector equipment that is located on the earth-moving plant receives by the light of laser instrument emission and in response to this generation positioning signal with for example 20ms speed once.Processor is then according to the height of this positioning signal control device.An example to fan-shaped laser instrument among the U. S. application No.U.S.2004/0125365A1 is illustrated, and this will discuss hereinafter more specifically.
The positioning equipment of another type is inertial navigation system (INS), and it determines position and attitude (attitude) information of earth-moving plant greater than 100 times speed with for example per second.INS can use and comprise that is measured 6 degree of freedom---3 linear degree of freedom (such as the x in the space, y and z axle) and such as the Inertial Measurement Unit (IMU) of the sensor of pitching (pitch), skew (yaw) and (roll) 3 rotary freedoms that roll.Linear degree of freedom assigned address, and rotary freedom is specified attitude.
IMU generally includes for 3 linear accelerometers determining the position and is used for determining 3 rate gyroscopes of attitude.According to the measurement to position and attitude, can determine position and the attitude information of this earth-moving plant such as computing units such as mimic channel or microcontrollers.On mathematics, positional information can be by promptly determining for twice a series of accekeration integrations that obtained by accelerometer, and attitude information can be by once coming to determine to a series of speed measurement value integrations from rate gyroscope output.
Each accelerometer reads the noise that is usually included in the relative a small amount of that is added up in the integral process with rate gyroscope.So the position and attitude information and the out of true that calculate, but can within given degree of error, know.Yet INS determines the position of apparatus and upgrades the current position of this machinery and attitude according to position and attitude information.Therefore, though can in receivable error surplus, obtain attitude and positional information, the error in this information or be called as " drift " and can be accumulated as a unacceptable amount in time.Yet on-site, require for a long time accurately mechanical position information.Therefore, do not use the INS system to determine the position of earth-moving plant separately usually.
Usually, when carrying out the muck haulage function, earth-moving plant can use a kind of in GPS, ATS, fan-shaped laser instrument or the planar laser positioning equipment.For example, can position and the elevation information that the GPS positioning equipment determines that this is mechanical be set at earth-moving plant.Though can obtain positional information exactly, yet elevation information is very inaccurate.Correspondingly, as disclosed in people's such as above-mentioned Ohtomo U.S. Patent bulletin No.U.S.2004/0125365A1, GPS and laser system are carried out combination so that the elevation angle and positional information accurately to be provided.
Especially, people such as Ohtomo discloses and has a kind ofly comprised fan-shaped laser instrument and receive from the position measuring system of the photoelectric testing sensor of the laser beam of this rotary laser equipment emission.This photoelectric testing sensor can be located on the earth-moving plant, and can determine the elevation information that this is mechanical in response to the light from rotary laser equipment.Therefore, in people's such as Ohtomo patent documentation, the rotary laser system provides than gps system elevation information more accurately.Earth-moving plant also can comprise for the GPS receiver that receives the data of determining position or horizontal level.In addition, position or horizontal information are to obtain according to the gps data that receives.
Yet control in real time is low such as the required frequency of cutting devices such as spader automatically for the disclosed frequency ratio that generates position and elevation information through GPS and the fan-shaped Optical Maser System of combination in people's such as Ohtomo patent documentation.Correspondingly, need a kind of can with bigger frequency and in gps signal or laser signal both one of or generate the position surveillance of accurate position and elevation information during the both gets clogged.
Disclosed system is at overcoming one or more shortcoming of the prior art.
Summary of the invention
According to an aspect of the present disclosure, provide a kind of system for the automatic regulator tool.This system comprises: inertial navigation system is configured to export the primary importance information that is associated with this apparatus; And processor, be configured to this primary importance information be compared with required disposal site and generate comparison signal in response to this.Also be provided with the valve control that is configured to regulate according to this comparison signal this apparatus.This system also comprises the measuring equipment that is coupled to inertial navigation system and is configured to export to inertial navigation system second place information.Inertial navigation system is reset to adjust primary importance information based on the estimation of error that generates according to primary importance information and second place information termly according to this measuring equipment.
According on the other hand, provide a kind of for the method for regulating the apparatus that is used for earth-moving plant automatically.This method comprises from inertial navigation system and receives first signal.Signal indication primary importance information from inertial navigation system.This method also comprises according to this first calculated signals position and is compared with desired location in this position.This method also comprises the secondary signal that sends this comparative result of expression and according to this secondary signal adjusting instrument.In addition, this method comprises that the primary importance information according to the estimation of error inertial navigation system is set to from the second place information of positioning equipment output.
Description of drawings
Fig. 1 shows the earth-moving plant of the each side that can comprise disclosed system.
Fig. 2 shows an exemplary automatic Apparatus control system
Fig. 3 shows the process flow diagram according to the method that is used for the aided inertial navigation system of an exemplary embodiment.
Embodiment
Fig. 1 shows earth-moving plant 100, comprises hydraulic mechanism 102 and 103, apparatus 104, sensor 106, bar 108, INS 107 and receiver 110.Though the disclosed embodiments are crawler tractors, be understandable that disclosed system can be widely applied on the various mechanically movings.
When machinery 100 was worked on-site, hydraulic mechanism 102 and 103 can be operated the apparatus 104 for commander, for example can be the motion of spader.Hydraulic mechanism 102 mobile apparatus 104 between upper-lower position that for example, can comprise the elevate a turnable ladder actuator.In addition, the hydraulic mechanism 103 that can comprise tilt actuators with apparatus 104 forward and recede.Hydraulic mechanism 102 and the 103 electric signal operations that can provide according to the internal unit (not shown) in machinery 100.For example, electric signal can impel hydraulic mechanism 102 to move up and down, and other electric signal can make hydraulic mechanism 103 move forward and backward.
Receiver 110 can receive and the relevant signal in its position (that is, with respect to the particular location of the earth), and can be arranged at the signal of the one or more satellites that are associated with GPS, GLONASS or GNSS with reception on the bar 108.This position can comprise horizontal level and the upright position of receiver 110.Because the relative position between known receiver 110 and INS 107 and the apparatus 104 is so can calculate the position of apparatus 104.Especially, as hereinafter will more specifically explaining, this position can calculate according to the INS 107 of use location processing unit.
In Fig. 1, INS 107 is illustrated as being positioned on the apparatus 104, yet the sensor that it should be noted that INS 107 can be located on the apparatus 104 and INS 107 also can comprise the control processor of further explaining as about Fig. 2 (for example, computing machine).This controlled processing unit handle from shown in the information that is positioned at the sensor on the apparatus 104 and from the information in other source.
Simultaneously, in another embodiment, position transducer can be located on hydraulic mechanism 102 and/103 or among, maybe can be provided with on other zone of earth-moving plant or among.This position transducer can be used to for example determine by the angle between the known distance between use location sensor and the apparatus and/or use sensor measurement sensor and the apparatus position of apparatus.
Though can use the GNSS signal that is recovered by receiver 110 to come calculating location, can replace with the one or more vertical position information that calculate from rotary laser, fan-shaped laser instrument, ATS, terrestrial radio range measurement system or other positioning equipment according to the upright position that the GNSS signal is determined.It is may be inaccurate from a kind of positional information in above-mentioned other positioning equipment by calculating because of the upright position that goes out according to the GNSS calculated signals that the vertical component of GNSS position can be replaced.In one embodiment, the replacement of vertical position information can occur in INS 107 and/or the receiver 110.
Replacement is will separate with and definite one comprehensive position appropriately weighted to these results from getting up from the combination of measurements of externally measured system such as GNSS measurement result, plane or fan-shaped laser instrument measurement result and/or ATS measurement result etc. calculating from a kind of alternatives of the upright position that the GNSS receiver is derived.This integrated location solution is provided for INS.
The 3rd alternatives is in single computation process this these externally measured result and inertia measurement result to be made up to determine best as far as possible position.
Therefore, use receiver 110, sensor 106 and/or other sensor, comprise that the position of the apparatus 104 of horizontal level and upright position can be determined.
Use this synthesising position (position for example come GNSS that free receiver 110 receives and randomly a position for example from fan-shaped laser instrument or rotary laser), machinery 100 can be changed the building site according to scheduled plan.For example, may need machinery 100 ground surfaces with the building site to drop to predetermined altitude or the building site is covered certain material makes it to predetermined altitude.The operator can use the display apparatus on machinery 100 the control panel check the position and manually with the position adjustments of apparatus 104 to the upright position that meets scheduled plan.
Automatic control system 200 comprises for the upright position of determining machinery 100 or the control computing machine 302 of elevation information.
Computing machine 302 can comprise Kalman filter 309, INS 310 and machinery control processor 311.Elevation information is admitted to the machinery control processor 311 that can comprise such as the memory cell of EPROM, RAM or other memory devices.Processor 311 can be stored the required elevation data corresponding to scheduled plan.Processor 311 can be retrieved this required elevation data and itself and received elevation information are compared.According to this relatively, an output signal is provided for valve control 202, valve control 202 and then appropriate control signals offered hydraulic mechanism 102 and 103.In response to this control signal, hydraulic mechanism 102 and 103 discharges or receives that hydraulic fluid opens thus or the set cylinder on it of withdrawing.Thereby the position of apparatus 104 can be changed to desired height.
As previously mentioned, INS 310 can receive from for example position and the attitude measurement result of IMU 307 IMU such as grade 307.In addition, Kalman filter 309 receptions are from the measurement result/position data in one or more sources that can comprise ATS sensor 304, planar laser device 305, fan-shaped laser instrument 306, terrestrial radio range measurement system sensor 312 and GNSS 308.Generally speaking, Kalman filter 309 is known in the field, and be to use recurrence, the linear filter of the error in the inertial navigation system (for example, INS 310) being proofreaied and correct from such as the measurement result of auxiliary sources such as ATS sensor 304, planar laser device 305, fan-shaped laser instrument 306, terrestrial radio range measurement system sensor 312 and GNSS 308.For example, Kalman filter 309 receives from the absolute measurement result of auxiliary source with from the current location of INS 310.According to these two positions or the concentrated difference of measurement result, an estimation of error is sent to INS 310.INS 310 uses this estimation of error that suitable change is done in the INS position.Through suitable change (addition or subtraction being made in the INS position according to this estimation of error) afterwards, determine a calibrated position and send it to processor 310.Therefore, the position of INS 310 is reset effectively or is reinitialized according to auxiliary source by the estimation of error that Kalman filter 309 sends.As mentioned above, depend on whether this position through overcorrect is consistent with predetermined building site plan, and processor 311 sends to appropriate signals valve control 202 as required with mobile apparatus 104.
Therefore, to provide with the speed of per second more than 100 times be computation cycles time of INS 310 to upgrade the position according to from the position calculation of INS spader being controlled to one to the disclosure.Than other positioning system of upgrading the position of spader with the speed of per second for example about 10 times, because the renewal of spader position is more frequent, so the disclosure allows spader is controlled more accurately.
Simultaneously, can be compared to determine from whether there being unacceptable error (" human error ") in INS 310 elevations angle and/or the positional information with one or more elevations angle that receive and/or positional information from ATS sensor 304, planar laser device 305, fan-shaped laser instrument 306, terrestrial radio range measurement system sensor 312 and GNSS receiver 308 from the elevation angle and/or the positional information of INS 310.If there is human error, then the elevation information of computing machine 302 reconfigurable INS 310, close machinery or this human error of alarm operation person.Similarly, the INS position can be used to also to determine whether one or more in the positioning equipment have " human error ".
Industrial applicibility
Referring now to the operation of Apparatus control system 200 automatically, Fig. 3 shows the process flow diagram 400 according to the method for an exemplary embodiment of the present disclosure.
In step 402, automatic control system (for example, system 200) determine to have according to the information that is generated by IMU 307 sensors such as grade for example this automatic control system earth-moving plant vertical and/horizontal level.This position for example speed of 100 Hz receives from INS.In addition, the error of INS can by by the Kalman filter inspection from retraining such as other inputs externally measured and/or positioning equipment such as laser instrument, fan-shaped laser instrument, GNSS and ATS.The position of INS can determine that from the measurement result of one or more external units the estimation of error of the physical location of the INS that the Kalman filter of absolute position provides resets by synthetic again by using by receiving from the absolute position of outside positioning equipment as described above or receiving the absolute measurement result.
In step 403, randomly determine whether to exist human error.Can carry out additional fault insurance test to determine providing one or more auxiliary sources (that is externally measured and/or positioning equipment) of information whether errors present just is being provided to Kalman filter.Sometimes can get clogged from information one or more in the auxiliary source, so computing machine 302 will transmit the solution according to the signal that receives from IMU 107.Have errors present or " human error " if just sent in the information of Kalman filter by one or more in the auxiliary source, then control computing machine can continue to transmit based on from the position calculation of the signal of IMU, close machinery or this human error of alarm operation person.
In step 404, use the information of the required upright position of the indicator instruments of storing, the inner circuit (for example, processor 311) of machinery is compared the required upright position of apparatus with the upright position that calculates (calibrated position) according to INS 310.Valve control (for example, valve control 202) in one automatic control system that is output based on the control signal of this comparison.
In step 406, valve control is adjusted to desired height or position with apparatus as required automatically in response to this control signal.
Method 400 also can be by realizing in earth-moving plant about the described circuit of Fig. 1-2 and unit.So an advantage of the present disclosure is because comparable other positioning equipment of INS provides positional information to come adjusting instrument according to position data more accurately more continually.INS does not have this shortcoming of uncontrolled drift because it become at drift value can be according to being reset such as other positioning equipments such as planar laser device, fan-shaped laser instrument, ATS, terrestrial radio range measurement system or GNSS termly before unacceptable.Therefore, the disclosure provides the system of accuracy of the positional information of the dynamic tracking power peace planar laser of a kind of INS of utilization, fan-shaped laser instrument, ATS, terrestrial radio range measurement system or GNSS.
In addition, during the of short duration outage of planar laser device, fan-shaped laser instrument, ATS, terrestrial radio range measurement system, for example in another mechanical blockage signal path or should machinery when below barriers such as big tree, passing, since INS continues the delivering position data and during this short interruption drift value less, so still can obtain position accurately.In the situation of the intermittent interruption that GNSS may be arranged, can be used to retrain the drift of INS from for example availability of the positional information of rotation or fan-shaped laser instrument.
Another advantage comprises that system has redundant location so that can carry out error-detecting and all machinery or alarm operation persons of safety shutdown when this error-detecting is determined human error to occur.Particularly, INS can be configured to detect the signal that receives from a plurality of positioning equipments to determine whether occurred human error the positional information.
According to consideration and practice of the present invention disclosed herein to instructions, other embodiments of the invention are apparent to one skilled in the art.This instructions and example are intended to only be considered exemplary, and true scope of the present invention and spiritual essence are indicated by claims.
Claims (21)
1. one kind is used for the system of the apparatus of adjusting earth-moving plant automatically, comprising:
Inertial navigation system, the primary importance information that configuration is associated with described apparatus in order to output;
Processor, configuration be in order to comparing described primary importance information with desired location, and in response to this generation comparison signal; And
Valve control, configuration is in order to regulate described apparatus according to described comparison signal;
Measuring equipment is coupled to described inertial navigation system, and configuration is in order to export second place information to described inertial navigation system;
Wherein, described inertial navigation system is reset termly from described measuring equipment, in order to revise described primary importance information based on the estimation of error that generates according to described primary importance information and described second place information.
2. the system as claimed in claim 1 is characterized in that, described measuring equipment is to select from the group of planar laser device, fan-shaped laser instrument, automatic total powerstation, terrestrial radio range measurement system and Global Navigation Satellite System (GNSS).
3. system as claimed in claim 2 is characterized in that, described second place information comprises horizontal level.
4. system as claimed in claim 2 is characterized in that, described second place information comprises the upright position.
5. the system as claimed in claim 1 is characterized in that, position processing unit configuration is in order to according to the horizontal level of the described apparatus of information calculations that is received by Global Navigation Satellite System (GNSS) with respect to the surface, building site.
6. the system as claimed in claim 1 is characterized in that, position processing unit configuration is in order to according to the upright position of the described apparatus of information calculations that is received by Global Navigation Satellite System (GNSS) with respect to the surface, building site.
7. the system as claimed in claim 1 is characterized in that, the configuration of described processor is in order to storing described desired location, and described processor further configuration in order to accessing memory cells.
8. the system as claimed in claim 1 is characterized in that, also comprises hydraulic mechanism, and wherein said valve control configuration is in order to provide control signal to described hydraulic mechanism, and described hydraulic mechanism activates in response to described control signal.
9. the system as claimed in claim 1 is characterized in that, sensor receives the signal that is used for calculating described primary importance information.
10. the system as claimed in claim 1 is characterized in that, comprises that also configuration is in order to receive the receiver of the signal of the mechanical position of indication from GLONASS (Global Navigation Satellite System).
11. the system as claimed in claim 1 is characterized in that, the Kalman filter configuration is in order to determine described estimation of error.
12. a method that is used for regulating automatically the apparatus of earth-moving plant, described method comprises:
Reception is from first signal of inertial navigation system, described signal indication primary importance information from inertial navigation system;
According to the described first calculated signals position;
Compared with desired location in described position;
Send the result's of the described comparison of expression secondary signal;
Regulate described apparatus according to described secondary signal; And
According to estimation of error, the described primary importance information of described inertial navigation system is set to from the second place information of positioning equipment output.
13. method as claimed in claim 12, it is characterized in that, described setting comprises according to described estimation of error uses the described primary importance information of described second place information updating termly, and wherein said positioning equipment is to select from the group of planar laser device, fan-shaped laser instrument, automatic total powerstation, terrestrial radio range measurement system and Global Navigation Satellite System (GNSS).
14. method as claimed in claim 13 is characterized in that, described primary importance information comprises that also basis is with respect to the horizontal level of the position on surface, building site.
15. method as claimed in claim 13 is characterized in that, described primary importance information comprises that also basis is with respect to the upright position of the position on surface, building site.
16. method as claimed in claim 13 is characterized in that, also comprises according to the horizontal level of the described apparatus of information calculations that is received by described Global Navigation Satellite System (GNSS) with respect to the surface, building site.
17. method as claimed in claim 13 is characterized in that, also comprises according to the upright position of the described apparatus of information calculations that is received by described Global Navigation Satellite System (GNSS) with respect to the surface, building site.
18. method as claimed in claim 13 is characterized in that, also comprises from the control processor retrieving described desired location.
19. method as claimed in claim 13 is characterized in that, described adjusting instrument comprises control signal is sent to the one or more hydraulic mechanisms that are coupled to described apparatus.
20. method as claimed in claim 13 is characterized in that, described reception comprises described first signal that is associated with described primary importance information with the sensor reception.
21. method as claimed in claim 13 is characterized in that, also comprises from described GLONASS (Global Navigation Satellite System) receiving indication with respect to the signal of the position on surface, building site.
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| CN (1) | CN101201631B (en) |
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Also Published As
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| SE532113C2 (en) | 2009-10-27 |
| DE102007051198B4 (en) | 2017-07-27 |
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| DE102007051198A1 (en) | 2008-05-21 |
| JP2008164590A (en) | 2008-07-17 |
| US9746329B2 (en) | 2017-08-29 |
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